Analytical Dynamics Model and Control for a Planar Two-link Flexible Manipulator

• Main Authors: Cheng-Chung Pan, 潘建忠
• Other Authors: Lih-Chang Lin
• Format: Others
• Language: zh-TW
• Published: 2005
• Online Access: http://ndltd.ncl.edu.tw/handle/11764459266939029372

碩士 === 國立中興大學 === 機械工程學系 === 93 === ABSTRACT In this thesis, we first derived the exact partial differential equations and the complete boundary conditions for a planar two-link flexible manipulator by using the extended Hamilton’s principle. In order to analyze the two links’ mode shape functions and characteristic frequencies, we propose appropriate flexible-variable transformations to obtain homogenous boundary conditions in terms of new flexible variables. Then, dynamic ordinary differential equations for the two-link flexible manipulator are derived utilizing the assumed modes method, and by considering only the first two modes of each link, an approximate finite-dimensional model is obtained for numerical simulations. In the controller design, we consider a composite control strategy consisting of the rigid model-based feedback linearization and optimal LQR controls to achieve both joint trajectory tracking and active vibration suppression of the two-link flexible manipulator. Computer simulations are presented for illustrating the effectiveness of the suggested control strategy.